wfmath  1.0.3
A math library for the Worldforge system.
oldmatrix.cpp
1 // -*-C++-*-
2 // matrix.cpp (Matrix<> implementation)
3 //
4 // The WorldForge Project
5 // Copyright (C) 2001 The WorldForge Project
6 //
7 // This program is free software; you can redistribute it and/or modify
8 // it under the terms of the GNU General Public License as published by
9 // the Free Software Foundation; either version 2 of the License, or
10 // (at your option) any later version.
11 //
12 // This program is distributed in the hope that it will be useful,
13 // but WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 // GNU General Public License for more details.
16 //
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
20 //
21 // For information about WorldForge and its authors, please contact
22 // the Worldforge Web Site at http://www.worldforge.org.
23 
24 // Author: Ron Steinke
25 // Created: 2001-12-7
26 
27 #include "matrix_funcs.h"
28 #include "const.h"
29 #include <float.h>
30 
31 namespace WF { namespace Math {
32 
33 Matrix<3> SkewSymmetric(const Vector<3>& v)
34 {
35  Matrix<3> out;
36 
37  out.elem(0, 0) = out.elem(1, 1) = out.elem(2, 2) = 0;
38 
39  out.elem(0, 1) = v[2];
40  out.elem(1, 0) = -v[2];
41  out.elem(1, 2) = v[0];
42  out.elem(2, 1) = -v[0];
43  out.elem(2, 0) = v[1];
44  out.elem(0, 2) = -v[1];
45 
46  return out;
47 }
48 
49 
50 }} // namespace WF::Math
Definition: oldmatrix.cpp:31